CN106707232B - A kind of WLAN propagation model localization method based on intelligent perception - Google Patents
A kind of WLAN propagation model localization method based on intelligent perception Download PDFInfo
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- CN106707232B CN106707232B CN201611181972.0A CN201611181972A CN106707232B CN 106707232 B CN106707232 B CN 106707232B CN 201611181972 A CN201611181972 A CN 201611181972A CN 106707232 B CN106707232 B CN 106707232B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a kind of WLAN propagation model localization method based on intelligent perception, this method is according to the tables of data being made of in advance in the acquisition data foundation of gunz point the propagation model parameter and location information that optimize, user can get the propagation model parameter optimized in tables of data by the label at scanning gunz point, carry out three side positioning.Meanwhile gunz data are also used to estimate the distance between user and gunz point, the distance can be used as restrictive condition correct the positioning of three sides as a result, increasing substantially positioning accuracy.Compared with prior art, the present invention the positioning of degree of precision can be realized merely with the data acquired from a small number of gunz points.
Description
Technical field
The invention belongs to indoor positioning technologies fields, in particular to a kind of WLAN propagation model based on intelligent perception is fixed
Position method.
Background technique
With the continuous development of mobile device and universal, people are rapid to the demand growth of location based service.Due to
Satellite positioning and cellular network location limited performance under environment indoors, therefore people utilize WLAN (Wireless
Local Area Network, WLAN), infrared ray, the technological development such as ultrasonic wave gone out different indoor locating systems.Wherein base
In WLAN positioning system because WLAN be arranged in extensively indoor environment and its terminal device it is widely available and by favor.
Currently, it has been proposed that it is a variety of utilize WLAN localization method, as location fingerprint, propagation model (Propagation Model,
PM), arrival time (Time of Arrival, TOA), reaching time-difference (Time Difference of Arrival,
TDOA), angle of arrival (Angle of Arrival, AOA) etc..
Compared with TOA, TDOA and AOA, location fingerprint method does not need additional hardware device and in non line of sight ring due to it
The features such as border performance is good becomes the focus of people's research.But the shortcomings that location fingerprint method is to need to acquire received signal strength
(Received Signal Strength, RSS) sample and its location information establish the database for being radio frequency map.Online
When positioning, the RSS sample of terminal device real-time measurement and the RSS sample matches in radio frequency map calculate positioning coordinate, or utilize
The nonlinear function of off-line training calculates positioning coordinate.The foundation of radio frequency map is generally completed in off-line phase by professional,
The usual time and effort consuming of the process, therefore the disadvantage also limits the extensive use of location fingerprint method.Though another propagation model method
It does not need so to establish radio frequency map, but this method needs to estimate the distance between user and WLAN access point using propagation model,
Therefore its performance is generally difficult to satisfactory.
In recent years, there has been proposed the radio frequency map method for building up based on intelligent perception.Intelligent perception is used using common
The mobile device of gunz participant perceptually unit is also at family, carries out conscious or unconscious association by mobile Internet
Make, realizes that perception task distribution and the collection of perception data are handled, to complete large-scale, complicated perception task.Therefore, with
Traditional radio frequency map method for building up is compared, and the advantage that radio frequency map is established in a manner of intelligent perception is to utilize a large amount of gunzs
User cooperates jointly to complete professional and needs RSS data acquisition tasks that the long period could complete, huge.But this
The problem of kind of method is, it is still desirable to acquire a large amount of RSS sample.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the present invention is intended to provide a kind of based on intelligent perception
The positioning of degree of precision can be realized merely with the data acquired from a small number of gunz points in WLAN propagation model localization method.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of WLAN propagation model localization method based on intelligent perception, comprising the following steps:
(1) WLAN propagation model is selected, and determines the Optimal Parameters in model；
(2) position coordinates system is established in area to be targeted indoors, selects several gunz points in the area, in each gunz point
Place's setting carries the label of the gunz point position coordinates；
(3) RSS data from multiple access points is measured using terminal device at each gunz point, at each gunz point
The position coordinates of the RSS data and gunz point that measure are uploaded to location-server；
(4) location-server optimizes WLAN propagation model parameter according to the gunz data received, by each gunz point pair
The average value for the model optimization parameter answered and the position coordinates of each gunz point generate tables of data, are stored in location-server；
(5) when user is gone at certain gunz point j, scanning label obtains the position coordinates of the gunz point, and in positioning service
The tables of data that query steps (4) generate in device, obtains the average value of the corresponding model optimization parameter of gunz point；
(6) excellent according to the corresponding model of gunz point j when user leaves gunz point j, and before reaching next gunz point
The average value for changing parameter estimates the distance between user current location and 3 strongest access points of signal, then is positioned using three sides
Algorithm positions user current location；
(7) according at gunz point j gunz data, user current location actual measurement RSS data and gunz point j
The average value of corresponding model optimization parameter estimates the distance between user current location and gunz point j, and repairs according to this distance
The result of three side location algorithms in positive step (6).
Further, in step (1), the WLAN propagation model of selection is as follows:
PTr (k)-PRe (k,j)=20lgf+N(k,j)lgd(k,j)-X(k,j)
In above formula, PTr (k)For the transmission power of access point k, obtained from the configuration of access point, PRe (k,j)It is user in group
The reception power of intelligence point j, obtains from the RSS data of measurement；N(k,j)And X(k,j)It is the Optimal Parameters of the model respectively；d(k,j)
It is the distance between access point k and gunz point j；F is frequencies of propagation；
Further, in step (4), the process for calculating the average value of WLAN propagation model parameter is as follows:
(a) the WLAN propagation model selected according to step (1), passes through Optimal Parameters N(k,j)And X(k,j)Estimate access point k with
The distance between gunz point j d(k,j):
(b) according to the position coordinates of access point kWith the position coordinates of gunz point jObtain access point k
With the horizontal distance between gunz point j
(c) Optimal Parameters N according to the following formula(k,j)And X(k,j):
In above formula,It is the parameter value after optimization,Between access point k and gunz point j it is true away from
From difference in height of the Δ h between access point and terminal device；
(d) according to step (a)-(c), diverse access point model optimization parameter value corresponding with gunz point j is obtained, by these
Optimal Parameters value is averaged, and obtains the average value of the corresponding model optimization parameter of gunz point jWith
Further, detailed process is as follows for step (7):
(A) power from access point l that user measures in current location i is calculated
(B) power from access point l that gunz point l is measured is calculated according to the gunz data of gunz point j
Then,WithDifference:
(C) third side is less than according to the difference on triangle both sides, then the distance between gunz point j and user current location iMeet:
(D) power from all access points measured according to user current location i, gunz point j, can obtain:
In above formula, L is access point sum.
(E) if the distance between three side positioning results of step (6) and gunz point j are greater thanIt is fixed to three sides then to need
Position result is modified.
Further, when needing to be modified three side positioning results, by three side positioning resultsIt is adapted to group
Intelligence point j is the center of circle, withFor on the circumference of radius, keep angle withIt is identical, then revised positioning coordinate
In above formula,For three side positioning resultsThe distance between gunz point j.
By adopting the above technical scheme bring the utility model has the advantages that
Intelligent perception is applied to propagation model positioning mode by the present invention, and this method only needs the gunz known to a small number of coordinates
The RSS sample and position coordinate data of point place acquisition carries out the positioning of degree of precision, can be rapidly completed in a short time.Together
When, this method saves the construction-time and cost of system merely with existing WLAN and terminal device without additional hardware.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the schematic diagram that distance between user and gunz point is estimated in the present invention.
Fig. 3 is the experimental situation plan view in embodiment.
Fig. 4 is the error accumulation probability comparison diagram of the present invention and traditional communication model location method in embodiment.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
As shown in Figure 1, a kind of WLAN propagation model localization method based on intelligent perception, comprising the following steps:
Step 1: selection WLAN propagation model, and determine the Optimal Parameters in model.
The propagation model that the present invention selects is shown below:
PLoss=20lgf+Nlgd+Pf(n)-28
Wherein, PLossIt is propagation loss, unit is dB；F is frequencies of propagation, and unit is MHz；D is that access point is set with terminal
The distance between standby, unit is rice；PfIt is the Roor Attenuation factor, unit is dB；N is separated by between terminal device and access point
Number of floor levels；N is attenuation coefficient, and 30 are equal under 2.4GHz office environment.
Due to being generally used in the access point of same floor, parameter Pf(n) it can remove, enable PTrAnd PReRespectively connect
The transmission power of access point k and user are in the reception power of gunz point j, then above-mentioned model is writeable are as follows:
PTr (k)-PRe (k,j)=20lgf+N(k,j)lgd(k,j)-X(k,j)
Wherein, N(k,j)And X(k,j)It is the parameter for needing to optimize respectively；PTr (k)And PRe (k,j)Can from the configuration of access point and
It is obtained in the RSS data of measurement.
Step 2: position coordinates system is established in area to be targeted indoors, several gunz points is selected in the area, in each group
Setting carries the label (such as two-dimension code label) of the gunz point position coordinates at intelligence point.
Step 3: the RSS data from multiple access points is measured using terminal device at each gunz point, by each gunz
The position coordinates of the RSS data and gunz point that measure at point are uploaded to location-server.
Step 4: location-server optimizes WLAN propagation model parameter according to the gunz data received, by each gunz point
The average value of corresponding model optimization parameter and the position coordinates of each gunz point generate tables of data, are stored in location-server
In.
According to the WLAN propagation model that step 1 selects, pass through Optimal Parameters N(k,j)And X(k,j)Estimate access point k and gunz
The distance between point j d(k,j):
According to the position coordinates of access point kWith the position coordinates of gunz point jObtain access point k with
Horizontal distance between gunz point j
Optimal Parameters N according to the following formula(k,j)And X(k,j):
In above formula,It is the parameter value after optimization,Between access point k and gunz point j it is true away from
From difference in height of the Δ h between access point and terminal device；
Diverse access point model optimization parameter value corresponding with gunz point j is obtained, these Optimal Parameters values are averaged, are obtained
To the average value of the corresponding model optimization parameter of gunz point jWith
Step 5: when user is gone at certain gunz point j, scanning label obtains the position coordinates of the gunz point, and takes in positioning
The tables of data that query steps 4 generate in business device, obtains the average value of the corresponding model optimization parameter of gunz point.
Step 6: when user leaves gunz point j, and before reaching next gunz point, according to the corresponding mould of gunz point j
The average value of type Optimal Parameters estimates the distance between user current location and 3 strongest access points of signal, then uses three sides
Location algorithm positions user current location.
Step 7: according at gunz point j gunz data, user current location actual measurement RSS data and gunz
The average value of the corresponding model optimization parameter of point j estimates the distance between user current location and gunz point j, and according to this distance
The result of three side location algorithms in amendment step 6.
Calculate the power from access point l that user measures in current location i
The power from access point l that gunz point l is measured is calculated according to the gunz data of gunz point j
Then,WithDifference:
As shown in Fig. 2, then gunz point j and user are current according to geometrical principle " difference on triangle both sides is less than third side "
The distance between position iMeet:
According to the power from all access points that user current location i, gunz point j are measured, can obtain:
In above formula, L is access point sum.
If the distance between three side positioning results of step 6 and gunz point j are greater thanIt then needs to three side positioning results
It is modified.When needing to be modified three side positioning results, by three side positioning resultsIt is adapted to and is with gunz point j
The center of circle, withFor on the circumference of radius, keep angle withIt is identical, then revised positioning coordinate
In above formula,For three side positioning resultsThe distance between gunz point j.
Hereafter the present invention is analyzed by an example.As shown in figure 3, experiment floor area be 51.6m ×
20.4m is highly 2.7m.It is disposed with the access point of the WLAN of 7 TP-LINK TL-WR845N altogether in floor, is highly 2.2
Rice.10 gunz points are selected in floor, and are pasted on the ground with the paster for being printed on two dimensional code.Using the blue 2 mobile phones acquisition of Meizu evil spirit
RSS sample, sampling rate are 1 RSS sample per second.Blue 2 mobile phones of Meizu evil spirit are placed on height as on 1.2 meters of tripod.Every
Acquired on a gunz point 1 minute totally 60 RSS samples adopted altogether in the corridor and room 620 of Experimental Area as gunz data
Collect 5400 RSS samples as test data.
For experimental result as shown in table 1 and Fig. 4, the propagation model localization method based on intelligent perception can be in basic propagating mode
Positioning accuracy is increased substantially on the basis of type method, 5.79 can be reduced to using method average localization error proposed by the present invention
Rice.Method proposed by the present invention is not only not necessarily to the data acquisition of time and effort consuming, and with basic propagation model positioning side
Method is compared and increases substantially positioning accuracy.Theoretical value with higher and practical significance.
Table 1
| Type | Traditional propagation model method | Propagation model localization method based on intelligent perception |
| Mean error (m) | 20.85m | 5.79m |
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (5)
1. a kind of WLAN propagation model localization method based on intelligent perception, which comprises the following steps:
(1) WLAN propagation model is selected, and determines the Optimal Parameters in model；
(2) position coordinates system is established in area to be targeted indoors, selects several gunz points in the area, sets at each gunz point
Set the label for carrying the gunz point position coordinates；
(3) RSS data from multiple access points is measured using terminal device at each gunz point, will measure at each gunz point
To RSS data and the position coordinates of gunz point be uploaded to location-server；
(4) location-server optimizes WLAN propagation model parameter according to the gunz data received, and each gunz point is corresponding
The position coordinates of the average value of model optimization parameter and each gunz point generate tables of data, are stored in location-server；
(5) when user is gone at certain gunz point j, scanning label obtains the position coordinates of the gunz point, and in location-server
The tables of data that query steps (4) generate, obtains the average value of the corresponding model optimization parameter of gunz point；
(6) when user leaves gunz point j, and before reaching next gunz point, joined according to the corresponding model optimization of gunz point j
Several average value estimates the distance between user current location and 3 strongest access points of signal, then uses three side location algorithms
User current location is positioned；
(7) corresponding in RSS data and gunz the point j of current location actual measurement according to the gunz data at gunz point j, user
Model optimization parameter average value estimate the distance between user current location and gunz point j, and according to this distance amendment walk
Suddenly in (6) three side location algorithms result.
2. the WLAN propagation model localization method based on intelligent perception according to claim 1, it is characterised in that: in step
(1) in, the WLAN propagation model of selection is as follows:
PTr (k)-PRe (k,j)=20lg f+N(k,j)lgd(k,j)-X(k,j)
In above formula, PTr (k)For the transmission power of access point k, obtained from the configuration of access point, PRe (k,j)It is user in gunz point j
Reception power, obtained from the RSS data of measurement；N(k,j)And X(k,j)It is the Optimal Parameters of the model respectively；d(k,j)It is access
The distance between point k and gunz point j；F is frequencies of propagation.
3. the WLAN propagation model localization method based on intelligent perception according to claim 2, it is characterised in that: in step
(4) in, the process for calculating the average value of WLAN propagation model parameter is as follows:
(a) the WLAN propagation model selected according to step (1), passes through Optimal Parameters N(k,j)And X(k,j)Estimate access point k and gunz
The distance between point j d(k,j):
(b) according to the position coordinates of access point kWith the position coordinates of gunz point jObtain access point k and group
Horizontal distance between intelligence point j
(c) Optimal Parameters N according to the following formula(k,j)And X(k,j):
In above formula,It is the parameter value after optimization,For the actual distance between access point k and gunz point j, Δ h
Difference in height between access point and terminal device；
(d) according to step (a)-(c), diverse access point model optimization parameter value corresponding with gunz point j is obtained, these are optimized
Parameter value is averaged, and obtains the average value of the corresponding model optimization parameter of gunz point jWith
4. the WLAN propagation model localization method based on intelligent perception according to claim 3, it is characterised in that: step (7)
Detailed process is as follows:
(A) power from access point l that user measures in current location i is calculated
(B) according to the gunz data of gunz point j, the power from access point l that gunz point j is measured is calculated
Then,WithDifference:
(C) third side is less than according to the difference on triangle both sides, then the distance between gunz point j and user current location iIt is full
Foot:
(D) power from all access points measured according to user current location i, gunz point j, can obtain:
In above formula, L is access point sum；
(E) if the distance between three side positioning results of step (6) and gunz point j are greater thanIt then needs to three side positioning results
It is modified.
5. the WLAN propagation model localization method based on intelligent perception according to claim 4, it is characterised in that: when needs pair
When three side positioning results are modified, by three side positioning resultsIt is adapted to using gunz point j as the center of circle, withFor radius
Circumference on, keep angle withIt is identical, then revised positioning coordinate
In above formula,For three side positioning resultsThe distance between gunz point j.
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| CN109031263B (en) * | 2018-07-05 | 2022-04-12 | 西南科技大学 | Indoor fingerprint map construction method based on mobile crowd sensing data |
| CN109282816B (en) * | 2018-09-25 | 2022-03-08 | 电子科技大学 | Range-finding positioning error suppression method using triangle constraint |
| CN109239656B (en) * | 2018-10-19 | 2021-02-09 | 南京工业大学 | Radio frequency map establishing method in position fingerprint positioning |
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